private async Task TestMultipleSensorsTouchCSSoud()
{
NXTTouchSensor touch = new NXTTouchSensor(brick, BrickPortSensor.PORT_S2);
EV3TouchSensor ev3Touch = new EV3TouchSensor(brick, BrickPortSensor.PORT_S1, 20);
NXTSoundSensor sound = new NXTSoundSensor(brick, BrickPortSensor.PORT_S4);
NXTColorSensor nxtlight = new NXTColorSensor(brick, BrickPortSensor.PORT_S3);
RGBColor rgb;
bool bwait = true;
while (bwait)
{
Debug.WriteLine(string.Format("NXT Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", touch.ReadRaw(), touch.ReadAsString(), touch.IsPressed(), touch.NumberOfModes(), touch.GetSensorName()));
Debug.WriteLine(string.Format("EV3 Touch, Raw: {0}, ReadASString: {1}, IsPressed: {2}, NumberNodes: {3}, SensorName: {4}", ev3Touch.ReadRaw(), ev3Touch.ReadAsString(), ev3Touch.IsPressed(), ev3Touch.NumberOfModes(), ev3Touch.GetSensorName()));
Debug.WriteLine(string.Format("NXT Sound, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}", sound.ReadRaw(), sound.ReadAsString(), sound.NumberOfModes(), sound.GetSensorName()));
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}, SensorName: {3}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.NumberOfModes(), nxtlight.GetSensorName()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
// Debug.WriteLine(string.Format("raw {0}", nxtlight.ReadTest()));
await Task.Delay(300);
if ((touch.IsPressed()) && ev3Touch.IsPressed())
{
bwait = false;
}
}
}
public async void Run(IBackgroundTaskInstance taskInstance)
{
deferal = taskInstance.GetDeferral();
brick = await Brick.InitializeInstance("Uart0");
InitGpio(brick);
brick.Arduino1Led.Toggle();
if (!await brick.InitializeSensors())
{
Debug.WriteLine("Something went wrong initializing sensors");
}
int version = await brick.GetBrickVersion();
Debug.WriteLine(string.Format("Brick Version: {0}", version));
bool timeoutSuccess = await brick.SetTimeout(200);
Debug.WriteLine(string.Format("Setting timeout succesfully: {0}", timeoutSuccess));
touch = new NXTTouchSensor(SensorPort.Port_S1, SensorType.TOUCH_DEBOUNCE);
touch.OnPressed += Touch_OnPressed;
touch.OnReleased += Touch_OnReleased;
touch.OnChanged += Touch_OnChanged;
await brick.Sensors.Add(touch, true);
ultrasonic = new NXTUltraSonicSensor(SensorPort.Port_S2, SensorType.ULTRASONIC_CONT);
ultrasonic.Threshold = 5;
await brick.Sensors.Add(ultrasonic, true);
#if COLOR
color = new NXTColorSensor(SensorPort.Port_S4, SensorType.COLOR_FULL);
await brick.Sensors.Add(color, true);
color = new NXTColorSensor(SensorPort.Port_S3, SensorType.COLOR_FULL);
await brick.Sensors.Add(color, true);
#else
color = new NXTColorSensor(SensorPort.Port_S3, SensorType.COLOR_RED);
await brick.Sensors.Add(color, true);
#endif
// color.PropertyChanged += Color_PropertyChanged;
if (!await brick.InitializeSensors())
{
Debug.WriteLine("Something went wrong initializing sensors");
}
brick.Start();
//while (true)
//{
// await brick.UpdateValues();
// await Task.Delay(1000);
//}
//motorA.SetTachoCount(motorA.GetTachoCount());
//await brick.Stop();
await Task.Delay(5000);
//brick.Start();
}
private static void TestNXTCS()
{
Console.WriteLine("Run NXT Color sensor test on port 4. Press the EV3 touch sensor on port 1 to stop the test.");
NXTColorSensor nxtlight = new NXTColorSensor(_brick, SensorPort.Port4);
EV3TouchSensor touch = new EV3TouchSensor(_brick, SensorPort.Port1);
RGBColor rgb;
while (!touch.IsPressed())
{
Console.WriteLine($"NXT Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}, NumberNodes: {nxtlight.SelectedMode()}");
rgb = nxtlight.ReadRGBColor();
Console.WriteLine($"Color: {nxtlight.ReadColor()}, Red: {rgb.Red}, Green: {rgb.Green}, Blue: {rgb.Blue}");
Thread.Sleep(300);
}
}
private async Task TestNXTCS()
{
NXTColorSensor nxtlight = new NXTColorSensor(brick, BrickPortSensor.PORT_S4);
RGBColor rgb;
bool bwait = true;
while (bwait)
{
Debug.WriteLine(string.Format("NXT Color Sensor, Raw: {0}, ReadASString: {1}, NumberNodes: {2}",
nxtlight.ReadRaw(), nxtlight.ReadAsString(), nxtlight.SelectedMode()));
rgb = nxtlight.ReadRGBColor();
Debug.WriteLine(string.Format("Color: {0}, Red: {1}, Green: {2}, Blue: {3}",
nxtlight.ReadColor(), rgb.Red, rgb.Green, rgb.Blue));
// Debug.WriteLine(string.Format("raw {0}", nxtlight.ReadTest()));
await Task.Delay(300);
}
}
private static void TestMultipleSensorsTouchCSSoud()
{
NXTTouchSensor touch = new NXTTouchSensor(_brick, SensorPort.Port2);
EV3TouchSensor ev3Touch = new EV3TouchSensor(_brick, SensorPort.Port1, 20);
NXTSoundSensor sound = new NXTSoundSensor(_brick, SensorPort.Port4);
NXTColorSensor nxtlight = new NXTColorSensor(_brick, SensorPort.Port3);
RGBColor rgb;
while (!((touch.IsPressed()) && ev3Touch.IsPressed()))
{
Console.WriteLine($"NXT Touch, Raw: {touch.ReadRaw()}, ReadASString: {touch.ReadAsString()}, IsPressed: {touch.IsPressed()}, NumberNodes: {touch.NumberOfModes()}, SensorName: {touch.GetSensorName()}");
Console.WriteLine($"EV3 Touch, Raw: {ev3Touch.ReadRaw()}, ReadASString: {ev3Touch.ReadAsString()}, IsPressed: {ev3Touch.IsPressed()}, NumberNodes: {ev3Touch.NumberOfModes()}, SensorName: {ev3Touch.GetSensorName()}");
Console.WriteLine($"NXT Sound, Raw: {sound.ReadRaw()}, ReadASString: {sound.ReadAsString()}, NumberNodes: {sound.NumberOfModes()}, SensorName: {sound.GetSensorName()}");
Console.WriteLine($"NXT Color Sensor, Raw: {nxtlight.ReadRaw()}, ReadASString: {nxtlight.ReadAsString()}, NumberNodes: {nxtlight.NumberOfModes()}, SensorName: {nxtlight.GetSensorName()}");
rgb = nxtlight.ReadRGBColor();
Console.WriteLine($"Color: {nxtlight.ReadColor()}, Red: {rgb.Red}, Green: {rgb.Green}, Blue: {rgb.Blue}");
Thread.Sleep(300);
}
}
